CN116324510A - Positioning device, positioning method, and positioning program - Google Patents
Positioning device, positioning method, and positioning program Download PDFInfo
- Publication number
- CN116324510A CN116324510A CN202180066005.2A CN202180066005A CN116324510A CN 116324510 A CN116324510 A CN 116324510A CN 202180066005 A CN202180066005 A CN 202180066005A CN 116324510 A CN116324510 A CN 116324510A
- Authority
- CN
- China
- Prior art keywords
- positioning
- correction amount
- delay correction
- antenna
- delay
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 39
- 238000004088 simulation Methods 0.000 claims abstract description 14
- 238000004364 calculation method Methods 0.000 claims description 28
- 238000004378 air conditioning Methods 0.000 claims 1
- 239000000758 substrate Substances 0.000 claims 1
- 230000007613 environmental effect Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 6
- 102100028780 AP-1 complex subunit sigma-2 Human genes 0.000 description 2
- 102100028175 Abasic site processing protein HMCES Human genes 0.000 description 2
- 102100022210 COX assembly mitochondrial protein 2 homolog Human genes 0.000 description 2
- 101100055680 Homo sapiens AP1S2 gene Proteins 0.000 description 2
- 101001006387 Homo sapiens Abasic site processing protein HMCES Proteins 0.000 description 2
- 101000900446 Homo sapiens COX assembly mitochondrial protein 2 homolog Proteins 0.000 description 2
- 101100533652 Homo sapiens SLIRP gene Proteins 0.000 description 2
- 101000631695 Homo sapiens Succinate dehydrogenase assembly factor 3, mitochondrial Proteins 0.000 description 2
- 102100025491 SRA stem-loop-interacting RNA-binding protein, mitochondrial Human genes 0.000 description 2
- 102100028996 Succinate dehydrogenase assembly factor 3, mitochondrial Human genes 0.000 description 2
- 101100397741 Drosophila melanogaster Pka-C2 gene Proteins 0.000 description 1
- 101100433181 Homo sapiens ZDHHC4 gene Proteins 0.000 description 1
- 102100028615 Palmitoyltransferase ZDHHC4 Human genes 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/01—Determining conditions which influence positioning, e.g. radio environment, state of motion or energy consumption
- G01S5/018—Involving non-radio wave signals or measurements
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention aims to realize positioning operation which suppresses the influence of propagation delay of positioning signals between an antenna and a positioning device. The positioning device includes a delay correction amount setting unit and an analog distance calculating unit. The delay correction amount setting unit sets a delay correction amount for the amount of delay from the antenna to the positioning device, which is generated by the positioning signal during tracking. The simulation distance calculating unit calculates a simulation distance using the tracking result and the delay correction amount.
Description
Technical Field
The present invention relates to a technique for positioning calculation using positioning signals of a GNSS.
Background
Patent document 1 describes the following: a pilot signal is generated by a receiver, and a delay time in the receiver is measured using the pilot signal for use in a positioning operation.
Prior art literature
Patent literature
Patent document 1: japanese patent laid-open No. 11-109016
Disclosure of Invention
[ problem to be solved by the invention ]
However, it is not possible to suppress the influence of the propagation delay of the positioning signal between the antenna and the receiver (positioning device) on the positioning operation.
Therefore, an object of the present invention is to realize a positioning operation in which an influence of propagation delay of a positioning signal between an antenna and a positioning device is suppressed.
[ means of solving the problems ]
The positioning device of the present invention includes a delay correction amount setting unit and an analog distance calculating unit. The delay correction amount setting unit sets a delay correction amount for the amount of delay from the antenna to the positioning device, which is generated by the positioning signal during tracking. The simulation distance calculating unit calculates a simulation distance using the tracking result and the delay correction amount.
In this configuration, a delay correction amount corresponding to the delay amount from the antenna to the positioning device is set for the positioning signal during tracking. Further, by using the delay correction amount, the influence of the propagation delay of the positioning signal from the antenna to the positioning device on the analog distance can be suppressed.
[ Effect of the invention ]
According to the present invention, it is possible to suppress the influence of propagation delay of a positioning signal between an antenna and a positioning device and perform a positioning operation.
Drawings
Fig. 1 is a functional block diagram of an arithmetic unit of a positioning device according to a first embodiment of the present invention.
Fig. 2 is a functional block diagram of a positioning device according to a first embodiment of the present invention.
Fig. 3 (a) is a graph showing an example of the antenna delay amount of each positioning signal, and fig. 3 (B) is a graph showing an example of the delay correction amount setting table.
Fig. 4 is a flowchart showing a positioning method according to the first embodiment of the present invention.
Fig. 5 is a flowchart showing a method of setting the delay correction amount.
Fig. 6 is a functional block diagram of a positioning device according to a second embodiment of the present invention.
Fig. 7 (a) is a graph showing an example of the antenna delay amount for each positioning signal and each temperature, and fig. 7 (B) is a graph showing an example of the delay correction amount setting table.
Fig. 8 is a flowchart showing a positioning method according to a second embodiment of the present invention.
Fig. 9 is a flowchart showing a method of setting the delay correction amount.
Detailed Description
(first embodiment)
The positioning technique according to the first embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a functional block diagram of an arithmetic unit of a positioning device according to a first embodiment of the present invention. Fig. 2 is a functional block diagram of a positioning device according to a first embodiment of the present invention.
(Structure of positioning device 30)
As shown in fig. 2, the positioning device 30 includes a computing unit 10 and a capture tracking unit 20. The capturing and tracking unit 20 is connected to an antenna 100.
The antenna 100 receives positioning signals from positioning satellites of a global navigation satellite system (Global Navigation Satellite System, GNSS). For example, the antenna 100 receives positioning satellites, GLONASS (Global Navigation Satellite System) of the global positioning system (Grobal Positioning Sysytem, GPS). The antenna 100 may also be capable of receiving positioning signals from other GNSS systems, such as quasi-zenith satellites.
The antenna 100 outputs the received positioning signal to the capture tracking unit 20. Although not shown, a radio-frequency (RF) amplifier is connected to the rear stage of the antenna 100, for example. The RF amplifier amplifies the positioning signal and outputs the positioning signal to the capture tracking unit 20.
(Structure and processing of the capture/tracking section 20)
The capture tracking unit 20 includes, for example, various electronic circuits and a control integrated circuit (Integrated Circuit, IC) incorporated with a program for executing the capture tracking process. The physical structure of the capture tracking unit 20 is not limited to this.
The capture tracking section 20 includes a down converter and a plurality of correlation processing sections. The positioning signal is input to a down converter. The down converter down-converts the positioning signal and outputs the positioning signal to a plurality of correlation processing units.
The plurality of correlation processes generate carrier signals and replica codes of positioning satellites (positioning signals) capturing tracking objects, respectively. The plurality of correlation processing units capture the positioning signal of the tracking object by using the set carrier signal and the replica code, respectively. The plurality of correlation processing units output tracking results for positioning signals for which tracking was successfully captured to the arithmetic unit 10. The tracking result is, for example, a baseband signal, a code phase difference, a carrier phase difference, tracking information (for example, a satellite number) indicating successfully tracked positioning satellites, and the like of the positioning signals restored by the correlation processing.
For example, a plurality of correlation processing units that capture a GPS positioning signal (for example, L1 wave) are configured to generate a GPS carrier signal and a replica code set for each GPS positioning satellite. A plurality of correlation processing units for capturing and tracking the GPS positioning signals are used for capturing and tracking the tracking targets. After successful tracking, the correlation processing unit that captures the GPS positioning signal as the target of tracking outputs the baseband signal of the GPS positioning signal, the code phase difference of the code set for each GPS positioning satellite, the carrier phase difference of the GPS, and the successfully tracked GPS positioning satellite (for example, satellite number) to the computing unit 10. In addition, in the GPS, since the frequencies of the positioning signals from all the positioning satellites are the same, it is possible to know that only the positioning satellite that is successfully tracked is the positioning satellite of the GPS.
The plurality of correlation processing units, which are targets of the positioning signals of the GLONASS for capturing and tracking, generate carrier signals of the positioning satellites (channels) of the GLONASS and replica codes set for the positioning satellites of the GLONASS, respectively. A plurality of correlation processing units, which use the GLONASS positioning signals as the objects to be captured and tracked, respectively perform capturing and tracking processing. After successful tracking, the correlation processing unit that captures the positioning signals of the GLONASS outputs the baseband signals of the positioning signals of the GLONASS, the code phase differences for the codes set for the positioning satellites according to the GLONASS, the carrier phase differences for the carrier frequencies set for the positioning satellites according to the GLONASS, and the successfully tracked positioning satellites (for example, satellite numbers) of the GLONASS to the operation unit 10. In GLONASS, the positioning signals (positioning satellites) are different. Therefore, information capable of identifying a positioning signal (positioning satellite) is required.
The capture tracking unit 20 may perform the same processing as the processing for GPS (L1) or GLONASS described above for positioning signals other than GNSS, and may output the tracking result to the computing unit 10.
(Structure and processing of the computing section 10)
As shown in fig. 1, the computing unit 10 includes a navigation information analyzing unit 11, a delay correction amount setting unit 12, an analog distance calculating unit 13, and a positioning computing unit 14. The arithmetic unit 10 is implemented by an arithmetic processing device such as a storage medium storing a program (positioning program) of a positioning method and a central processing unit (central processing unit, CPU) executing the positioning program. The physical structure of the arithmetic unit 10 is not limited to this.
The baseband signal of the positioning signal is input from the capture tracking unit 20 to the navigation information analysis unit 11. The navigation information analysis unit 11 analyzes the navigation information from the baseband signal. The navigation information analysis unit 11 obtains the clock error of each positioning satellite, the precise orbit information of each positioning satellite, and the like from the navigation information. The navigation information analysis unit 11 outputs the clock signal to the analog distance calculation unit 13. The navigation information analysis unit 11 outputs the position of the positioning satellite, which is precise orbit information, to the positioning calculation unit 14.
Tracking information is input from the capture tracking unit 20 to the delay correction amount setting unit 12. The delay correction amount setting unit 12 sets the delay correction amount of each positioning signal (positioning satellite) in tracking based on the tracking information. The delay correction amount is to correct the propagation delay amount (antenna delay amount) of the positioning signal from the antenna 100 to the capture tracking unit 20. The delay correction amount setting unit 12 outputs the delay correction amounts of the positioning signals to the analog distance calculating unit 13.
The code phase difference is input from the capture tracking unit 20 to the analog distance calculating unit 13, and the clock difference is input from the navigation information analyzing unit 11 to the analog distance calculating unit 13. The delay correction amount setting unit 12 inputs the delay correction amounts of the positioning satellites to the analog distance calculating unit 13.
The analog distance calculating unit 13 calculates an analog distance of each positioning satellite using the code phase difference, the clock error, and the delay correction amount. The method for calculating the analog distance is a known method except that the delay correction amount is used as a known value, and a detailed description of the method for calculating the analog distance is omitted. The analog distance calculating unit 13 outputs the analog distance of each positioning satellite to the positioning calculating unit 14.
The positioning calculation unit 14 performs positioning calculation using the simulated distance of each positioning satellite and the satellite position of the positioning satellite. The positioning calculation is, for example, calculation of the position of the positioning device 30 (more precisely, the position of the antenna 100), calculation of the speed of the positioning device 30, calculation of the precise reference time, or the like. The positioning calculation unit 14 may calculate all of these, or may calculate at least one of these.
(first setting method of delay correction amount)
Fig. 3 (a) is a graph showing an example of the antenna delay amount of each positioning signal, and fig. 3 (B) is a graph showing an example of the delay correction amount setting table.
As shown in fig. 3 (a), the amount of antenna delay of the positioning signal has frequency characteristics. In other words, the amount of antenna delay of the positioning signal differs according to the frequency of the positioning signal. For example, the frequency of the GPS location signals may be different from the GLONASS location signals. Therefore, the antenna delay amount of the GPS positioning signal is different from the antenna delay amount of the GLONASS positioning signal. Further, in GLONASS, the frequencies of positioning signals of the positioning satellites (channels) are different. Therefore, in GLONASS, the amount of antenna delay varies for each positioning satellite (channel).
As a specific example, in the case shown in fig. 3 (a), the positioning signal (for example, L1 wave) of the GPS becomes the antenna delay amount D1 with respect to the frequency f 1. Regarding the positioning signal (e.g., L1 wave) of the GLONASS channel A, the antenna delay D21 is set with respect to the frequency f 21. The positioning signal (e.g., L1 wave) of the GLONASS channel B is an antenna delay D22 relative to the frequency f 22. The positioning signal (e.g., L1 wave) of the GLONASS channel C is an antenna delay D23 relative to the frequency f 23.
The frequency f1, the frequency f21, the frequency f22, and the frequency f23 are different. Therefore, the antenna delay amounts D1, D21, D22, and D23 for these frequencies are not necessarily the same.
The delay correction amount setting unit 12 sets the delay correction amount DC1, the delay correction amount DC21, the delay correction amount DC22, and the delay correction amount DC23 so as to cancel out calculation errors of the analog distances caused by the respective antenna delay amounts D1, D21, D22, and D23. For example, the delay correction amount setting unit 12 sets the delay correction amount DC1 for the positioning signal of the frequency f1 so as to cancel out the calculation error of the analog distance caused by the antenna delay amount D1.
By setting such a delay correction amount, the influence of the antenna delay amount included in the calculated analog distance can be suppressed, and the analog distance can be calculated with high accuracy.
Further, in the configuration of the present invention, a delay correction amount is set for each frequency of the positioning signal. Therefore, even if the frequencies of the positioning signals used for calculating the analog distances are different, the correction can be performed based on the respective frequencies, and thus the analog distances can be calculated with higher accuracy. In particular, when the simulation distance calculation and the positioning calculation are performed by using the GNSS systems having different frequencies in combination as described above, the simulation distance and the positioning calculation result can be calculated with high accuracy by the configuration and the processing of the present invention.
(first positioning method)
In the above description, the mode in which the calculation of the simulation distance and the positioning operation are realized by the different functional units is shown. However, by programming and storing the respective processes of the positioning method and executing the same by the arithmetic processing device, the calculation of the analog distance and the positioning operation can be realized. In this case, the flow shown in fig. 4 and 5 described below may be executed. Fig. 4 is a flowchart showing a positioning method according to the first embodiment of the present invention. Fig. 5 is a flowchart showing a method of setting the delay correction amount. The description of the specific contents of each process shown in the flowcharts of fig. 4 and 5 will be omitted.
As shown in fig. 4 and 5, the arithmetic processing device sets a delay correction amount according to the frequency (fig. 4 and 11). More specifically, the arithmetic processing device obtains tracking information (fig. 5 and S111), and sets a delay correction amount of each positioning signal (frequency) based on the tracking information (fig. 5 and S112).
The arithmetic processing device calculates an analog distance of each positioning signal (positioning satellite) using the delay correction amount set for each positioning signal (fig. 4 and S12). The arithmetic processing device performs positioning calculation using the simulated distances for a plurality of positioning satellites (fig. 4 and S13).
By performing such processing, the analog distances of the positioning satellites are calculated with high accuracy, and the positioning calculation result is also high accuracy.
(second embodiment)
A positioning technique according to a second embodiment of the present invention will be described with reference to the drawings. Fig. 6 is a functional block diagram of a positioning device according to a second embodiment of the present invention.
As shown in fig. 6, the positioning device 30A of the second embodiment differs from the positioning device 30 of the first embodiment in the method of setting the delay correction amount in the delay correction amount setting unit 12A of the computing unit 10A. Other structures of the positioning device 30A are the same as those of the positioning device 30, and description of the same portions is omitted.
The environmental condition is input to the delay correction amount setting unit 12A together with the tracking information. The environmental condition is measured, for example, by the environmental condition measuring unit 40. For example, if the environmental condition is the ambient temperature of the antenna 100, the environmental condition measuring unit 40 is realized by a temperature sensor or the like capable of measuring the ambient temperature of the antenna 100.
The delay correction amount setting unit 12A sets a delay correction amount using the tracking information and the environmental information. The delay correction amount setting unit 12A outputs the analog distance calculating unit 13.
(second setting method of delay correction amount)
Fig. 7 (a) is a graph showing an example of the antenna delay amount for each positioning signal and each temperature, and fig. 7 (B) is a graph showing an example of the delay correction amount setting table.
As shown in fig. 7 (a), the antenna delay amount of the positioning signal has frequency characteristics. In other words, the amount of antenna delay of the positioning signal differs according to the frequency of the positioning signal. As shown in fig. 7 (a), the amount of antenna delay of the positioning signal has a temperature characteristic. In other words, even if the frequency of the positioning signal is fixed, the amount of antenna delay of the positioning signal varies according to the ambient temperature of the antenna 100.
As a specific example, in the case shown in fig. 7 (a), the positioning signal (for example, L1 wave) of the GPS becomes the antenna delay amount D11 with respect to the frequency f1 and the antenna surrounding temperature T1. The GPS positioning signal is an antenna delay amount D12 with respect to the frequency f1 and the antenna ambient temperature T2. The GPS positioning signal is an antenna delay amount D13 with respect to the frequency f1 and the antenna ambient temperature T3. In addition, regarding GLONASS, the antenna delay amount is not necessarily the same if the antenna ambient temperature T1, the antenna ambient temperature T2, and the antenna ambient temperature T3 are different with respect to each of the frequencies f21, f22, and f 23.
The delay correction amount setting unit 12A sets the delay correction amount DC11, the delay correction amount DC12, and the delay correction amount DC13 based on, for example, a combination of the GPS (frequency f 1) and the antenna ambient temperature T1, the antenna ambient temperature T2, and the antenna ambient temperature T3, so as to cancel out calculation errors of the analog distances caused by the respective antenna delay amounts D21, D12, D13, and D23.
Similarly, the delay correction amount setting unit 12A sets the delay correction amount DC211 (frequency f21, antenna ambient temperature T1), the delay correction amount DC212 (frequency f21, antenna ambient temperature T2), and the delay correction amount DC213 (frequency f21, antenna ambient temperature T3) based on, for example, a combination of GLONASS (frequency f 21) and antenna ambient temperature T1, antenna ambient temperature T2, and antenna ambient temperature T3, respectively. The delay correction amount setting unit 12A sets the delay correction amount DC221 (frequency f22, antenna ambient temperature T1), the delay correction amount DC222 (frequency f22, antenna ambient temperature T2), and the delay correction amount DC223 (frequency f22, antenna ambient temperature T3) based on, for example, a combination of GLONASS (frequency f 22) and antenna ambient temperature T1, antenna ambient temperature T2, and antenna ambient temperature T3. The delay correction amount setting unit 12A sets the delay correction amount DC231 (frequency f23, antenna ambient temperature T1), the delay correction amount DC232 (frequency f23, antenna ambient temperature T2), and the delay correction amount DC233 (frequency f23, antenna ambient temperature T3) based on, for example, a combination of GLONASS (frequency f 23), antenna ambient temperature T1, antenna ambient temperature T2, and antenna ambient temperature T3.
As described above, by setting the delay correction amount based on the frequency and the environmental condition, the influence of the antenna delay amount included in the calculated analog distance can be further suppressed, and the analog distance can be calculated with further high accuracy.
In the above description, the temperature is described as an example of the environmental condition, but the present invention is applicable to the above configuration and processing as long as the environmental condition is such as humidity that changes the propagation delay of the positioning signal.
(second positioning method)
In the above description, the mode in which the calculation of the simulation distance and the positioning operation are realized by the different functional units is shown. However, by programming and storing the respective processes of the positioning method and executing the same by the arithmetic processing device, the calculation of the analog distance and the positioning operation can be realized. In this case, the flow shown in fig. 8 and 9 described below may be executed. Fig. 8 is a flowchart showing a positioning method according to a second embodiment of the present invention. Fig. 9 is a flowchart showing a method of setting the delay correction amount. The description of the specific contents of each process shown in the flowcharts of fig. 8 and 9 is omitted.
As shown in fig. 8 and 9, the arithmetic processing device sets a delay correction amount according to the frequency and the environmental condition (fig. 8 and 11A). More specifically, the arithmetic processing device obtains the tracking information (fig. 9, S111) and obtains the environmental condition (fig. 9, S121). The arithmetic processing unit sets a delay correction amount of each positioning signal based on the tracking information and the environmental condition (fig. 9 and S112A).
The arithmetic processing device calculates an analog distance of each positioning signal (positioning satellite) using the delay correction amount set for each positioning signal (fig. 8 and S12). The arithmetic processing device performs positioning calculation using the simulated distances for a plurality of positioning satellites (fig. 8 and S13).
By performing such processing, the simulated distance of each positioning satellite is calculated with higher accuracy, and the positioning calculation result is also more accurate.
In the above description, the delay correction amount is set based on the frequency and the environmental condition. However, if there is a factor that causes the antenna delay amount, the delay correction amount may be set to include the factor.
In the above description, only the antenna delay amount is described. However, as described above, when the RF amplifier is connected between the antenna 100 and the capture tracking unit 20, the delay correction amount may be set to include the delay amount of the RF amplifier.
[ description of symbols ]
10. 10A: calculation unit
11: navigation information analysis unit
12. 12A: delay correction amount setting unit
13: analog distance calculating unit
14: positioning operation unit
20: capturing and tracking part
30: positioning device
30A: positioning device
40: environmental condition measuring unit
100: antenna
D1, D11, D12, D13, D21, D22, D23: delay amount of antenna
DC1, DC11, DC12, DC13, DC21, DC211, DC212, DC213, DC22, DC221, DC222, DC223, DC23, DC231, DC232, DC233: delay correction amounts f1, f21, f22, f23: frequency of
T1, T2, T3: antenna ambient temperature
Claims (18)
1. A positioning device, comprising:
a delay correction amount setting unit that sets a delay correction amount for a delay amount from the antenna to the positioning device, which is generated by the positioning signal during tracking; a kind of electronic device with high-pressure air-conditioning system
And a simulation distance calculating unit that calculates a simulation distance using the tracking result and the delay correction amount.
2. The positioning device of claim 1, wherein
The delay correction amount setting unit
The delay correction amount is set based on the frequency of the positioning signal.
3. The positioning device of claim 1 or 2, wherein
The delay correction amount setting unit
The delay correction amount is set based on an environment of the antenna.
4. A positioning device as set forth in claim 3 wherein
The delay correction amount setting unit
The delay correction amount is set based on a temperature of a periphery of the antenna, which is an environment of the antenna.
5. The positioning device of any one of claims 1 to 4, comprising:
a navigation information analysis unit for analyzing navigation information superimposed on the positioning signal,
the navigation information analysis unit obtains a clock error of a positioning satellite from which the positioning signal is transmitted, outputs the clock error to the analog distance calculation unit,
the analog distance calculating unit calculates the analog distance using the clock difference.
6. The positioning device of any one of claims 1 to 5, comprising:
and a positioning calculation unit that performs positioning calculation using the simulated distance.
7. A method of positioning a substrate in a substrate-positioning device,
a delay correction amount for the delay amount of the antenna to the positioning device generated by the positioning signal during tracking is set,
and calculating a simulation distance by using the tracking result and the delay correction amount.
8. The positioning method of claim 7, wherein
The delay correction amount is set based on the frequency of the positioning signal.
9. The positioning method according to claim 7 or 8, wherein
The delay correction amount is set based on an environment of the antenna.
10. The positioning method according to claim 9, wherein
The delay correction amount is set based on a temperature of a periphery of the antenna, which is an environment of the antenna.
11. The positioning method according to any one of claims 7 to 10, wherein
Analyzing the navigation information overlapped with the positioning signal,
obtaining the clock difference of the positioning satellite from which the positioning signal is sent,
the analog distance is calculated using the clock difference.
12. The positioning method according to any one of claims 7 to 11, wherein
And performing positioning operation by using the simulation distance.
13. A positioning program causes an arithmetic processing device to execute:
a delay correction amount for the delay amount of the antenna to the positioning device generated by the positioning signal during tracking is set,
and calculating a simulation distance by using the tracking result and the delay correction amount.
14. The positioning program of claim 13, wherein
Causing the arithmetic processing device to execute the following processing:
the delay correction amount is set based on the frequency of the positioning signal.
15. The positioning procedure according to claim 13 or 14, wherein
Causing the arithmetic processing device to execute the following processing:
the delay correction amount is set based on an environment of the antenna.
16. The positioning program of claim 15, wherein
Causing the arithmetic processing device to execute the following processing:
the delay correction amount is set based on a temperature of a periphery of the antenna, which is an environment of the antenna.
17. The positioning procedure of any one of claims 13-16, wherein
Causing the arithmetic processing device to execute the following processing:
analyzing the navigation information overlapped with the positioning signal,
obtaining the clock difference of the positioning satellite from which the positioning signal is sent,
the analog distance is calculated using the clock difference.
18. The positioning procedure of any one of claims 13-17, wherein
Causing the arithmetic processing device to execute the following processing:
and performing positioning operation by using the simulation distance.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2020196662 | 2020-11-27 | ||
| JP2020-196662 | 2020-11-27 | ||
| PCT/JP2021/039687 WO2022113620A1 (en) | 2020-11-27 | 2021-10-27 | Positioning device, positioning method, and positioning program |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116324510A true CN116324510A (en) | 2023-06-23 |
Family
ID=81755540
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202180066005.2A Pending CN116324510A (en) | 2020-11-27 | 2021-10-27 | Positioning device, positioning method, and positioning program |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US20230243981A1 (en) |
| EP (1) | EP4254014A1 (en) |
| JP (1) | JPWO2022113620A1 (en) |
| CN (1) | CN116324510A (en) |
| WO (1) | WO2022113620A1 (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3753351B2 (en) | 1997-10-01 | 2006-03-08 | 日本無線株式会社 | GLONASS receiver |
| JP2000031926A (en) * | 1998-07-16 | 2000-01-28 | Japan Radio Co Ltd | Detector for characteristic deviation with respect to frequency between channels for fdma receiver |
| US8259008B2 (en) * | 2008-11-17 | 2012-09-04 | Qualcomm Incorporated | DGNSS correction for positioning |
| JP2011215128A (en) * | 2010-03-16 | 2011-10-27 | Denso Corp | Glonass receiving device |
| JP6318523B2 (en) * | 2013-09-30 | 2018-05-09 | 日本電気株式会社 | POSITIONING SYSTEM, DEVICE, METHOD, AND PROGRAM |
| CN106199666B (en) * | 2016-09-20 | 2018-11-27 | 北京航空航天大学 | A kind of positioning and tracing method based on terminal forwarding GNSS signal |
-
2021
- 2021-10-27 EP EP21897596.9A patent/EP4254014A1/en active Pending
- 2021-10-27 WO PCT/JP2021/039687 patent/WO2022113620A1/en unknown
- 2021-10-27 CN CN202180066005.2A patent/CN116324510A/en active Pending
- 2021-10-27 JP JP2022565141A patent/JPWO2022113620A1/ja active Pending
-
2023
- 2023-04-11 US US18/298,395 patent/US20230243981A1/en active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| WO2022113620A1 (en) | 2022-06-02 |
| EP4254014A1 (en) | 2023-10-04 |
| JPWO2022113620A1 (en) | 2022-06-02 |
| US20230243981A1 (en) | 2023-08-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20150116148A1 (en) | Method for predicting spoofing signal and apparatus thereof | |
| CN1942776B (en) | Method of tracking radio frequency signals | |
| US8300678B2 (en) | Multipath signal determination method, signal suitability determination method, positioning operation method, program, and multipath signal determination circuit | |
| US8593341B2 (en) | Position calculation method and position calculation apparatus | |
| EP2348335A1 (en) | A receiver and method for authenticating satellite signals | |
| US7965229B2 (en) | Positioning method, program, positioning device, and electronic apparatus | |
| GB2385733A (en) | GPS receiver | |
| US8325086B2 (en) | Methods and systems to diminish false-alarm rates in multi-hypothesis signal detection through combinatoric navigation | |
| US11921223B2 (en) | System and method for detecting spoofing of global navigation satellite system signals using a plurality of antennas | |
| US9253751B2 (en) | Method of calculating movement speed and device for calculating movement speed | |
| US8358241B2 (en) | Position calculating method and position calculating device | |
| JP2011013189A (en) | Positioning device and program | |
| JP6585138B2 (en) | Clock drift profile determination in navigation system receiver | |
| US20100194633A1 (en) | Position calculating method and position calculating device | |
| Feng et al. | Fast cycle slip determination for high-rate multi-GNSS RTK using modified geometry-free phase combination | |
| CN116324510A (en) | Positioning device, positioning method, and positioning program | |
| US20130343436A1 (en) | Receiving device and correlation integrating method | |
| EP3792651B1 (en) | Path estimating device and portable information terminal | |
| JP2009103509A (en) | Gnss receiving device and positioning method | |
| WO2017022391A1 (en) | Multipath detection device, multipath detection method, multipath detection program, positioning device, positioning method, and positioning program | |
| JP2013253814A (en) | Positioning method, positioning program, positioning apparatus, and information apparatus terminal | |
| JP2008082819A (en) | Positioning instrument and method | |
| CN114303075A (en) | Positioning assistance apparatus, positioning assistance method, and computer-readable recording medium | |
| US9091756B2 (en) | Receiving method and receiving apparatus | |
| KR101373396B1 (en) | Appartus of amending gps information and method therefor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |